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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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      <li class="navelem"><b>OpencvSfM</b>      </li>
      <li class="navelem"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html">CameraPinholeDistor</a>      </li>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a>  </div>
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<div class="title">OpencvSfM::CameraPinholeDistor Class Reference</div>  </div>
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<!-- doxytag: class="OpencvSfM::CameraPinholeDistor" --><!-- doxytag: inherits="OpencvSfM::CameraPinhole" -->
<p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store intra parameters and radial distortion.  
 <a href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_camera_pinhole_distor_8h_source.html">CameraPinholeDistor.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for OpencvSfM::CameraPinholeDistor:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_opencv_sf_m_1_1_camera_pinhole_distor.png" usemap="#OpencvSfM::CameraPinholeDistor_map" alt=""/>
  <map id="OpencvSfM::CameraPinholeDistor_map" name="OpencvSfM::CameraPinholeDistor_map">
<area href="class_opencv_sf_m_1_1_camera_pinhole.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::CameraPinhole" shape="rect" coords="0,56,205,80"/>
<area href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::Camera" shape="rect" coords="0,0,205,24"/>
</map>
 </div></div>

<p><a href="class_opencv_sf_m_1_1_camera_pinhole_distor-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ad58c8fb16fdbb0eba4345cd3abe47a92">CameraPinholeDistor</a> (cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ab3f32742332ecaab124721e9b259f932">CameraPinholeDistor</a> (const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;objectPoints, const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;imagePoints, cv::Size imageSize, double aspectRatio=1., cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#aab95df60504b6bda45c11b53f939ad21">updateDistortionParameters</a> (const cv::Vec6d &amp;radial_dist, unsigned char nbRadialParam, const cv::Vec2d &amp;tangential_dist, unsigned char wantedEstimation=RADIAL_PARAM|TANGEANT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ad78028097b1c964cba435fd6a5728e8b">convertFromImageTo3Dray</a> (std::vector&lt; cv::Vec3d &gt; points)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a4599ad282967c60bc4e3046067202b56">pixelToNormImageCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ab2ef67d6d89fc008c5716c7f7a25d012">normImageToPixelCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a7a481f4ed67f33cc50369729fdf87f84">write</a> (cv::FileStorage &amp;fs) const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a449b7e76f4e82b50b38f01457fdfa77b">read</a> (const cv::FileNode &amp;node)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad3b352db4b127864bcd901e11d7e50dc"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::radial_dist_" ref="ad3b352db4b127864bcd901e11d7e50dc" args="" -->
cv::Vec&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ad3b352db4b127864bcd901e11d7e50dc">radial_dist_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">used to store radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ ) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a99247804700d8c8bfaf50a4e84cfb080"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::nb_radial_params_" ref="a99247804700d8c8bfaf50a4e84cfb080" args="" -->
unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a99247804700d8c8bfaf50a4e84cfb080">nb_radial_params_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">number of radial dist parameters ( 0, 2, 3 or 6 ) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae09ea3c12a8e19788d084b357f11a902"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::tangential_dist_" ref="ae09ea3c12a8e19788d084b357f11a902" args="" -->
cv::Vec&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ae09ea3c12a8e19788d084b357f11a902">tangential_dist_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">used to store tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ ) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80906d90106b91c391449d4cb9fd32e7"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::nb_tangent_params_" ref="a80906d90106b91c391449d4cb9fd32e7" args="" -->
unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a80906d90106b91c391449d4cb9fd32e7">nb_tangent_params_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">N umbers of tangeancial distorition parameters (0, 1 or 2) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9ce33321472dbbb71668b266225060b"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::distortionVector" ref="af9ce33321472dbbb71668b266225060b" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#af9ce33321472dbbb71668b266225060b">distortionVector</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">vector of distortion coefficients ( k_1, k_2, p_1, p_2[ , k_3[ , k_4, k_5, k_6 ]] ) of 4, 5 or 8 elements <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store intra parameters and radial distortion. </p>
<p>So this class is devoted to the conversion between 3D points ( using camera coordinate ) and 2D points ( using image coordinate ) using the methods convertFromImageTo3Dray or convertFrom3DToImage </p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8h_source.html#l00024">24</a> of file <a class="el" href="_camera_pinhole_distor_8h_source.html">CameraPinholeDistor.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="ad58c8fb16fdbb0eba4345cd3abe47a92"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::CameraPinholeDistor" ref="ad58c8fb16fdbb0eba4345cd3abe47a92" args="(cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::CameraPinholeDistor::CameraPinholeDistor </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>intra_params</em> = <code>cv::Mat::eye(&#160;3,&#160;3,&#160;CV_64F&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Vec6d&#160;</td>
          <td class="paramname"><em>radial_dist</em> = <code>cv::Vec6d(&#160;0.0,0.0,0.0,0.0,0.0,0.0&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>nbRadialParam</em> = <code>6</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Vec2d&#160;</td>
          <td class="paramname"><em>tangential_dist</em> = <code>cv::Vec2d(&#160;0.0,0.0&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>wantedEstimation</em> = <code>FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Constructor with ( or not ) intra parameters. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">intra_params</td><td>matrix of intra parameters ( 3*3 ) </td></tr>
    <tr><td class="paramname">radial_dist</td><td>radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ ) </td></tr>
    <tr><td class="paramname">nbRadialParam</td><td>number of radial dist parameters ( 0, 2, 3 or 6 ) </td></tr>
    <tr><td class="paramname">tangential_dist</td><td>tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ ) </td></tr>
    <tr><td class="paramname">wantedEstimation</td><td>values which need an estimation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00012">12</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

<p>Referenced by <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00126">read()</a>.</p>

</div>
</div>
<a class="anchor" id="ab3f32742332ecaab124721e9b259f932"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::CameraPinholeDistor" ref="ab3f32742332ecaab124721e9b259f932" args="(const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;objectPoints, const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;imagePoints, cv::Size imageSize, double aspectRatio=1., cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::CameraPinholeDistor::CameraPinholeDistor </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Size&#160;</td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>aspectRatio</em> = <code>1.</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Vec6d&#160;</td>
          <td class="paramname"><em>radial_dist</em> = <code>cv::Vec6d(&#160;0.0,0.0,0.0,0.0,0.0,0.0&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>nbRadialParam</em> = <code>6</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Vec2d&#160;</td>
          <td class="paramname"><em>tangential_dist</em> = <code>cv::Vec2d(&#160;0.0,0.0&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>wantedEstimation</em> = <code>FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Constructor where initial camera matrix is computed from the 3D-2D point correspondences. Currently, the function only supports planar calibration patterns, i.e. patterns where each object point has z-coordinate =0. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>The vector of vectors of the object points. See <a href="http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera">http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera</a> </td></tr>
    <tr><td class="paramname">imagePoints</td><td>The vector of vectors of the corresponding image points. See <a href="http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera">http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera</a> </td></tr>
    <tr><td class="paramname">imageSize</td><td>The image size in pixels; used to initialize the principal point </td></tr>
    <tr><td class="paramname">aspectRatio</td><td>If it is zero or negative, both <img class="formulaInl" alt="$f_x$" src="form_7.png"/> and <img class="formulaInl" alt="$f_y$" src="form_8.png"/> are estimated independently. Otherwise <img class="formulaInl" alt="$f_x=f_y * aspectRatio$" src="form_9.png"/> </td></tr>
    <tr><td class="paramname">radial_dist</td><td>radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ ) </td></tr>
    <tr><td class="paramname">nbRadialParam</td><td>number of radial dist parameters ( 0, 2, 3 or 6 ) </td></tr>
    <tr><td class="paramname">tangential_dist</td><td>tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ ) </td></tr>
    <tr><td class="paramname">wantedEstimation</td><td>values which need an estimation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00020">20</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad78028097b1c964cba435fd6a5728e8b"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::convertFromImageTo3Dray" ref="ad78028097b1c964cba435fd6a5728e8b" args="(std::vector&lt; cv::Vec3d &gt; points)" -->
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt; cv::Vec4d &gt; OpencvSfM::CameraPinholeDistor::convertFromImageTo3Dray </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec3d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td><code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can transform points from image to 3D rays </p>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0eb602c19f646a074e95e81cdc5f02bb">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00068">68</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

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</div>
<a class="anchor" id="ab2ef67d6d89fc008c5716c7f7a25d012"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::normImageToPixelCoordinates" ref="ab2ef67d6d89fc008c5716c7f7a25d012" args="(std::vector&lt; cv::Vec2d &gt; points) const " -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">vector&lt; Vec2d &gt; OpencvSfM::CameraPinholeDistor::normImageToPixelCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 2D points from normalized image coordinates to 2D points in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in normalized image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in pixel image coordinates. </dd></dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a96954b793843fd8cf9a568b2c21f3a87">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00084">84</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="a4599ad282967c60bc4e3046067202b56"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::pixelToNormImageCoordinates" ref="a4599ad282967c60bc4e3046067202b56" args="(std::vector&lt; cv::Vec2d &gt; points) const " -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">vector&lt; Vec2d &gt; OpencvSfM::CameraPinholeDistor::pixelToNormImageCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 2D points from pixel image coordinates to 2D points in normalized image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in pixel image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in normalized image homogeneous coordinates. </dd></dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7b87b0fe8e9fe28a02642c3ef0159f69">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00075">75</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

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<a class="anchor" id="a449b7e76f4e82b50b38f01457fdfa77b"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::read" ref="a449b7e76f4e82b50b38f01457fdfa77b" args="(const cv::FileNode &amp;node)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt; OpencvSfM::CameraPinholeDistor::read </td>
          <td>(</td>
          <td class="paramtype">const cv::FileNode &amp;&#160;</td>
          <td class="paramname"><em>node</em></td><td>)</td>
          <td><code> [static]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Create a new camera from a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a799aa0db013e8d1e8516157a4905c36b">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00126">126</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

<p>Referenced by <a class="el" href="_point_of_view_8cpp_source.html#l00233">OpencvSfM::PointOfView::read()</a>.</p>

</div>
</div>
<a class="anchor" id="aab95df60504b6bda45c11b53f939ad21"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::updateDistortionParameters" ref="aab95df60504b6bda45c11b53f939ad21" args="(const cv::Vec6d &amp;radial_dist, unsigned char nbRadialParam, const cv::Vec2d &amp;tangential_dist, unsigned char wantedEstimation=RADIAL_PARAM|TANGEANT_PARAM)" -->
<div class="memitem">
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      <table class="memname">
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          <td class="memname">void OpencvSfM::CameraPinholeDistor::updateDistortionParameters </td>
          <td>(</td>
          <td class="paramtype">const cv::Vec6d &amp;&#160;</td>
          <td class="paramname"><em>radial_dist</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>nbRadialParam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const cv::Vec2d &amp;&#160;</td>
          <td class="paramname"><em>tangential_dist</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>wantedEstimation</em> = <code>RADIAL_PARAM|TANGEANT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>this method can be used to update the intra parameters. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">radial_dist</td><td>values of the new radial distortions parameters </td></tr>
    <tr><td class="paramname">nbRadialParam</td><td>number of radial dist parameters ( 0, 2, 3 or 6 ) </td></tr>
    <tr><td class="paramname">tangential_dist</td><td>values of the new tangential distortions parameters </td></tr>
    <tr><td class="paramname">wantedEstimation</td><td>values which need an estimation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00035">35</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

<p>Referenced by <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00012">CameraPinholeDistor()</a>.</p>

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</div>
<a class="anchor" id="a7a481f4ed67f33cc50369729fdf87f84"></a><!-- doxytag: member="OpencvSfM::CameraPinholeDistor::write" ref="a7a481f4ed67f33cc50369729fdf87f84" args="(cv::FileStorage &amp;fs) const " -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void OpencvSfM::CameraPinholeDistor::write </td>
          <td>(</td>
          <td class="paramtype">cv::FileStorage &amp;&#160;</td>
          <td class="paramname"><em>fs</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Save the camera intra parameters into a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">fs</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0442e53ee1ef49653873a863e61ba8e2">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00159">159</a> of file <a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_pinhole_distor_8h_source.html">CameraPinholeDistor.h</a></li>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_pinhole_distor_8cpp_source.html">CameraPinholeDistor.cpp</a></li>
</ul>
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